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Motion Planning with Six Degrees of Freedom
(1984-05-01)
The motion planning problem is of central importance to the fields of robotics, spatial planning, and automated design. In robotics we are interested in the automatic synthesis of robot motions, given high-level ...
Parallelism in Manipulator Dynamics
(1984-12-01)
This paper addresses the problem of efficiently computing the motor torques required to drive a lower-pair kinematic chain (e.g., a typical manipulator arm in free motion, or a mechanical leg in the swing phase) given ...
Structure and Interpretation of Computer Programs
(1983-07-01)
"The Structure and Interpretation of Computer Programs" is the entry-level subject in Computer Science at the Massachusetts Institute of Technology. It is required of all students at MIT who major in Electrical ...
Presentation Based User Interface
(1984-08-01)
A prototype presentation system base is described. It offers mechanisms, tools, and ready-made parts for building user interfaces. A general user interface model underlies the base, organized around the concept of a ...
Finding Edges and Lines in Images
(1983-06-01)
The problem of detecting intensity changes in images is canonical in vision. Edge detection operators are typically designed to optimally estimate first or second derivative over some (usually small) support. Other ...
Switching Between Discrete and Continuous Process Models to Predict Molecular Genetic Activity
(1984-05-01)
Two kinds of process models have been used in programs that reason about change: Discrete and continuous models. We describe the design and implementation of a qualitative simulator, PEPTIDE, which uses both kinds of ...
Planning for Conjunctive Goals
(1985-11-01)
The problem of achieving conjunctive goals has been central to domain independent planning research; the nonlinear constraint-posting approach has been most successful. Previous planners of this type have been comlicated, ...
KBEmacs: A Step Toward the Programmer's Apprentice
(1985-05-01)
The Knowledge-Based Editor in Emacs (KBEmacs) is the current demonstration system implemented as part of the Programmer's Apprentice project. KBEmacs is capable of acting as a semi-expert assistant to a person who is ...
Issues in the Design and Implementation of Act 2
(1983-06-01)
Act2 is a highly concurrent programming language designed to exploit the processing power available from parallel computer architectures. The language supports advanced concepts in software engineering, providing ...
A Compilation Strategy for Numerical Programs Based on Partial Evaluation
(1989-02-01)
This work demonstrates how partial evaluation can be put to practical use in the domain of high-performance numerical computation. I have developed a technique for performing partial evaluation by using placeholders ...